(19)
(11) EP 2 011 610 A3

(12) EUROPEAN PATENT APPLICATION

(88) Date of publication A3:
24.03.2010 Bulletin 2010/12

(43) Date of publication A2:
07.01.2009 Bulletin 2009/02

(21) Application number: 08007791.0

(22) Date of filing: 22.04.2008
(51) International Patent Classification (IPC): 
B25J 9/16(2006.01)
B23P 19/00(2006.01)
(84) Designated Contracting States:
AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MT NL NO PL PT RO SE SI SK TR
Designated Extension States:
AL BA MK RS

(30) Priority: 24.04.2007 JP 2007114256

(71) Applicant: Fanuc Ltd
Yamanashi 401-0597 (JP)

(72) Inventors:
  • Hatanaka, Kokoro
    Minatsuru-gun Yamanashi 401-0597 (JP)
  • Sato, Takashi
    Minatsuru-gun Yamanashi 401-0597 (JP)

(74) Representative: Thum, Bernhard 
Wuesthoff & Wuesthoff Patent- und Rechtsanwälte Schweigerstrasse 2
81541 München
81541 München (DE)

   


(54) Fitting device


(57) A fitting device (10) for fitting a first fitting member held in a hand (4) mounted at the forward end of a robot arm (2) to a corresponding second fitting member, comprising a detection unit (3) for detecting the force or moment generated when the first and second fitting members come into contact with each other, and a judging unit (12) for judging, based on the force or moment detected by the detection unit (3), whether a one-point contact state prevails in which the first and second fitting members are in contact with each other at one point or a two-point contact state prevails in which the first and second fitting members are in contact with each other at least two points. In the one-point contact state, the first fitting member held in the hand is pressed against the second fitting member in the fitting direction thereby to proceed with the fitting operation while maintaining the holding posture of the robot arm (2). In the two-point contact state, the fitting operation is caused to proceed further while the holding posture of the robot arm is changeable. As a result, the first fitting member can be fitted in the second fitting member while keeping the robot arm in the normal posture.







Search report